Adding initial Clank code

CHANGELOG.md

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+# CHANGE LOG
+
+## Clank Version 0.1.0
+
+- Initial implemetation.

README.md

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-# clank
+# Clank Robot
 
 A differential drive robot.
+

dev_requirements.in

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+black
+pip-tools

dev_requirements.txt

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+#
+# This file is autogenerated by pip-compile with python 3.8
+# To update, run:
+#
+#    pip-compile dev_requirements.in
+#
+black==22.6.0
+    # via -r dev_requirements.in
+build==0.8.0
+    # via pip-tools
+click==8.1.3
+    # via
+    #   black
+    #   pip-tools
+mypy-extensions==0.4.3
+    # via black
+packaging==21.3
+    # via build
+pathspec==0.9.0
+    # via black
+pep517==0.12.0
+    # via build
+pip-tools==6.8.0
+    # via -r dev_requirements.in
+platformdirs==2.5.2
+    # via black
+pyparsing==3.0.9
+    # via packaging
+tomli==2.0.1
+    # via
+    #   black
+    #   build
+    #   pep517
+typing-extensions==4.3.0
+    # via black
+wheel==0.37.1
+    # via pip-tools
+
+# The following packages are considered to be unsafe in a requirements file:
+# pip
+# setuptools

firmware/README.md

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+# Setup Clank Firmware on Teensy 4.1
+
+The Clank robot relies on a custom built Micropython binary for the MIMXRT port, which includes an experimental api for hardware based quadrature encoders. The reference implementation is tested using a Teensy 4.1 and code from [this PR to the micropython upstream repository](https://github.com/micropython/micropython/pull/7911) which is on Micropython 1.19.4 version. Other MIMXRT board should be sufficient, but this in unverified. Copies of these custom binaries are provided in the `firmware/hex` directory. Alternatively, you can attempt to build your own binaries from the PR's source following the [Build Micropython for the Teensy 4.0/4.1 ](https://androiddrew.github.io/2021/07/build-micropython-for-teensy-4x/) instructions.
+
+## Flashing the Teensy 4.1 with Clank's custom firmware
+
+Instructions for generically flashing the Teensy can be found on the pjrc website [here](https://www.pjrc.com/teensy/first_use.html). The below instructions were performed using an Ubuntu linux desktop. Instructions for flashing the Teensy from an Ubuntu desktop can be found [here](https://androiddrew.github.io/2021/07/build-micropython-for-teensy-4x/).
+
+## Flashing the Teensy 4.1 with the upy_clank Micropython code
+
+TODO add instructions for using mpremote to deploy `upy_clank` code to Teensy 4.1 microcontroller.

firmware/upy_clank/README.md

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+# upy_clank
+
+This directory contains the source code for the the Clank Micropython firmware. See [firmware/README.md](../README.md) for requirements regarding the MIMXRT hardware quadrature encoder support.

firmware/upy_clank/main.py

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+__upy_clank_version__ = '0.1.0'
+
+def main():
+    pass

hardware/README.md

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+# Clank Hardware
+
+TODO Add documentation on reference implementation hardware.

requirements.in

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+invoke
+mpremote

requirements.txt

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+#
+# This file is autogenerated by pip-compile with python 3.8
+# To update, run:
+#
+#    pip-compile requirements.in
+#
+invoke==1.7.1
+    # via -r requirements.in
+mpremote==0.3.0
+    # via -r requirements.in
+pyserial==3.5
+    # via mpremote